BIOLOGICAL PRINCIPLES OF CONTROL SELECTION FOR A HUMANOID ROBOT'S DYNAMIC BALANCE PRESERVATION

• DOI: 10.1142/s0219843608001601
• Publication Date: 2009-01-19T05:46:54Z
• Authors: MIOMIR VUKOBRATOVIĆ; HUGH M. HERR; BRANISLAV BOROVAC; MIRKO RAKOVIĆ; MARKO POPOVIC; ANDREAS HOFMANN; MILOŠ JOVANOVIĆ; VELJKO POTKONJAK
• Keywords: Ground reaction force

This paper presents a contribution to the study of control law structures and selection relevant sensory information for humanoid robots in situations where dynamic balance is jeopardized. In example considered, system first experiences large disturbance, then by an appropriate action resumes "normal" posture standing on one leg. order examine laws used humans, experiment was performed which human subject subjected perturbations ensuing reactions were recorded obtain complete about subject's motion ground reaction force. Then, model advanced with characteristics matching those experimental subject. The whole simulated so as achieve that similar test analysis applied, behavior selected reference points (ZMP, CMP CM projection surface), provided valuable insight into strategies might employ better mimic kinetics kinematics humans compensating disturbances.